CN205734241U - Intelligence sanding apparatus - Google Patents
Intelligence sanding apparatus Download PDFInfo
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- CN205734241U CN205734241U CN201521057947.2U CN201521057947U CN205734241U CN 205734241 U CN205734241 U CN 205734241U CN 201521057947 U CN201521057947 U CN 201521057947U CN 205734241 U CN205734241 U CN 205734241U
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- 238000005498 polishing Methods 0.000 claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000035939 shock Effects 0.000 claims description 11
- 125000004122 cyclic group Chemical group 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000002950 deficient Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 238000000227 grinding Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000001228 spectrum Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
nullThe utility model discloses a kind of intelligence sanding apparatus，Including supporting seat、Bracing frame and unit head，Bracing frame fixed cover is loaded on the outside of unit head，Support seat and there is sidewall and roof，Sidewall and roof surround zone line，The top of unit head passes zone line and roof，The bottom of unit head is fixed with polishing tool，Bracing frame is between roof and bottom，The flexible support part of multiple circumference centered by the axle of unit head it is provided with between bracing frame and roof，One end that support seat is relative with roof is fixed with and prevents bracing frame by the baffle ring supporting seat abjection，It is formed between baffle ring and bracing frame and enables to the arc contact surface that bracing frame deflects relative to baffle ring，Intelligence sanding apparatus also includes the polishing attitude detection parts for detecting unit head and the relative position of workpiece，Polishing attitude detection parts are arranged on unit head.Sanding apparatus of the present utility model, can be prevented effectively from defective work piece or cutter.
Description
Technical field
This utility model relates to milling tools field, and specifically, this utility model relates to a kind of intelligence sanding apparatus.
Background technology
During using robot and other gang tools that foundry goods or other blank workpiece are carried out automatically grinding, due to overlap, burr, the uncertainty of dead head residual in the low precision of blank workpiece own dimensions and workpiece, the appearance profile causing each workpiece actual has bigger random error with digital-to-analogue, adding the relative position error between foundry goods and clamping tool, the optimal polishing track of each blank workpiece does not has repeatability.
And track set in advance the most all walked by robot or other gang tools.If the method using tradition cutting carries out foundry goods or the polishing of other blanks, it is difficult to adapt to actual changeable polishing track, certainly will cannot ensure quality of polishing, easily accidentally injure workpiece body, and easily damage cutter, cause the problem that cutter life is short, processing cost is high.
Utility model content
The technical problems to be solved in the utility model is, for the deficiency existing for prior art, it is provided that a kind of intelligence sanding apparatus, and it is it can be avoided that accidentally injure workpiece and cutter and can be easy to the relative position observing unit head and cutter with workpiece.
nullFor solving above-mentioned technical problem，The technical solution of the utility model is: a kind of intelligence sanding apparatus，Including supporting seat、Bracing frame and unit head，Support frame as described above fixed cover is loaded on the outside of described unit head，Described support seat has sidewall and roof，Described sidewall and roof surround zone line，The top of described unit head passes described zone line and described roof，The bottom of described unit head is fixed with polishing tool，Support frame as described above is between described roof and described bottom，Multiple flexible support part it is provided with between support frame as described above and described roof，Multiple described flexible support parts are distributed on the circumference centered by the axle of described unit head，One end that described support seat is relative with described roof is fixed with the baffle ring preventing support frame as described above from being deviate from by described support seat，It is formed between described baffle ring and support frame as described above and enables to the arc contact surface that support frame as described above deflects relative to described baffle ring，Described intelligence sanding apparatus also includes the polishing attitude detection parts for detecting described unit head and the relative position of workpiece，Described polishing attitude detection parts are arranged on described unit head.
Preferably, described flexible support part is cylinder, air bag or spring.
Preferably, described polishing attitude detection parts are gyroscope, and described polishing attitude detection parts are fixed on described unit head.
Preferably, support frame as described above has cyclic lug, and described baffle ring has endless groove, and described cyclic lug is embedded in described endless groove.
Preferably, support frame as described above includes tubular main part and is positioned at the described main part collar flange near described roof one end, and described cyclic lug is positioned at the bottom surface of described collar flange, and described endless groove is positioned at the end face of described baffle ring.
Preferably, described intelligence sanding apparatus also includes that shock detection parts, described shock detection parts are fixed on described unit head.
Preferably, described support seat is provided with for measuring the described unit head displacement detection part relative to the displacement of described support seat.
Preferably, described displacement detection part is displacement transducer.
Preferably, described intelligence sanding apparatus also includes the air pressure for regulating described cylinder/air bag or regulates the control assembly of pretightning force of described spring.
Preferably, described intelligence sanding apparatus also includes information specialist's processing system of polishing, described polishing information specialist's processing system collects described polishing attitude detection parts, described shock detection parts and the detection information of described displacement detection part, and regulates robot or gang tool attitude, travel track and feed velocity and the flexible strength of flexible support part with reference to historical data.
Implement intelligence sanding apparatus of the present utility model, have the advantages that when this intelligence sanding apparatus works, owing to flexible support part applies elastic force to bracing frame, therefore unit head can drive polishing tool that workpiece imposes flexible active force, in this process, by polishing attitude detection parts detection unit head position relative with workpiece and change thereof, to avoid unit head excessively to depart from desired guiding trajectory.It addition, shock detection parts, it is possible to it is easy to detect the Vibration Condition of unit head.And displacement detection part, then it is easy to detect the displacement of unit head.Especially, such data can be used for the intelligentized control method of this sanding apparatus, the information of all detection gained returns to information specialist's processing system of polishing in bruting process in real time, and the historical data in reference database, adjust robot or gang tool attitude, travel track and feed velocity and the flexible strength of flexible support mechanism, thus oneself continue to optimize each polishing parameter, such as polishing pressure, travel track, feed speed, cutter-orientation etc..Additionally, this sanding apparatus, it is possible to solving quality instability, disfiguring workpiece body during miscellaneous equipment polishing workpiece, the problem that cutter life is short well, this device can be stable at a high speed, the overlap of effective cleaning workpiece and burr.
Accompanying drawing explanation
Below, the accompanying drawing involved by this utility model is illustrated, in accompanying drawing:
Fig. 1 is the structural representation of intelligence sanding apparatus of the present utility model.
Detailed description of the invention
For the ease of understand this utility model solved the technical problem that, technical scheme and the technique effect that obtained, below, in conjunction with specific embodiment, the utility model is described in further detail.
Intelligence sanding apparatus of the present utility model, for polishing to workpiece, to eliminate the overlap of workpiece, burr and the part of other influences workpiece accuracy.
With reference to Fig. 1, intelligence sanding apparatus has two kinds of operational modes, and one is to be arranged on robot or gang tool use by support seat 1, drives mobile by robot or gang tool, thus is processed workpiece；Another kind is to be fixed on support seat 1 by this base plate of base plate 9() it is arranged on fixed support use, drive workpiece to move by robot or gang tool, thus workpiece is processed.
In figure, a kind of intelligence sanding apparatus of the present utility model, including supporting seat 1, bracing frame 3 and unit head 2, support seat 1 and constitute basic support.As a kind of mode, support seat 1 of the present utility model is revolving body.
Bracing frame 3 fixed cover is loaded on the outside of unit head 2, support seat 1 and there is sidewall and roof (being as the criterion with direction in scheming), sidewall and roof surround zone line, the top (being as the criterion with direction in scheming) of unit head 2 passes zone line and roof, unit head 2, from as actuating unit, can be chosen as vapour-pressure type or electrodynamic type.The bottom of unit head 2 is fixed with polishing tool 10, and polishing tool 10 can be driven rotation by unit head 2, in order to polishes workpiece.Bracing frame 3 is between roof and bottom, multiple flexible support part it is provided with between bracing frame 3 and roof, multiple flexible support parts are distributed on the circumference centered by the axle of unit head 2, in figure, it illustrates two flexible support parts 5, bracing frame 3 and unit head 2 are applied flexibility (elastic) active force of equilibrium.Flexible support part 5 is utilized to ensure the pressure constant to bracing frame 3, i.e. flexible strength.The size of flexible strength can be configured according to the cutting parameter of the material of workpiece and cutter, to reach automatically to compensate the deviation of workpiece self, effectively evades big overlap or the remaining damage causing cutter of dead head simultaneously.
Supporting seat 1 one end (i.e. lower end in figure) relative with roof and be fixed with the baffle ring 4 preventing bracing frame 3 from being deviate from by support seat 1, this baffle ring 4 can be connected with supporting seat 1 by screw or other modes.Being formed between baffle ring 4 and bracing frame 3 and enable to the arc contact surface that bracing frame 3 deflects relative to baffle ring 4, so, unit head 2 and bracing frame 3 can produce certain deflection relative to baffle ring 4, thus better adapt to workpiece requirement.Intelligence sanding apparatus of the present utility model also includes the polishing attitude detection parts 8 for detecting unit head and the relative position of workpiece, polishing attitude detection parts 8 are arranged on unit head, this polishing attitude detection parts 8 can know in time unit head with workpiece relative to position, so that unit head is regulated and controled in time, it is avoided excessively to depart from desired guiding trajectory (as excessively departed from desired guiding trajectory, be easily caused damage cutter or workpiece).These polishing attitude detection parts 8 can be chosen as gyroscope, it is also possible to is chosen as other parts with posture detection function.
In this utility model, flexible support part 5 can be multiple, and such as, flexible support part 5 is air bag, spring or cylinder mechanism etc., and it can apply elastic acting force to bracing frame 3 and just may be used.Flexible support part 5 is arranged on and supports on seat 1 and deflecting or compressing the resistance that formation is default unit head 2, and this drag size determines the flexible strength of this intelligence sanding apparatus.The flexible strength of unit head and corresponding characteristic curve can be obtained by regulation air pressure (when flexible support part is chosen as air bag) or preloading spring.When bracing frame 3 is more than resistance produced by flexible support part 5 by the moment that polishing tool 10 transmits, unit head bracing frame 3 deflects together with unit head 2 and polishing tool 10 or axially displacement, and substantially keep polishing tool pressure on workpiece by flexible support part, play flexible adaptive effect.
As elucidated before, being formed between baffle ring 4 and bracing frame 3 and enable to the arc contact surface that bracing frame 3 deflects relative to baffle ring 4, as a kind of optimal way, bracing frame 3 has cyclic lug 301, baffle ring 4 has endless groove, and cyclic lug 301 is embedded in endless groove.Further, bracing frame 3 includes tubular main part and is positioned at the main part collar flange near roof one end, cyclic lug 301 is positioned at the bottom surface of collar flange, endless groove is positioned at the end face of baffle ring 4, so, just defining arc contact surface between baffle ring 4 and bracing frame 3, this arc contact surface makes bracing frame 3 can rotate relative to baffle ring 4 or offset, certainly, support seat 1 size should meet bracing frame 3 can produce rotate or skew needs.
Intelligence sanding apparatus of the present utility model also includes that shock detection parts 6, shock detection parts 6 are fixed on unit head 2, and it is for detecting the vibrations frequency spectrum of unit head 2.Equally, this vibrations frequency spectrum can be delivered to information specialist's processing system of polishing, in order to realizes automatically controlling.
Further, in this utility model, support and be provided with on seat 1 for measuring the unit head 2 displacement detection part 7 relative to the displacement supporting seat 1.This displacement detection part, it is possible to the displacement deflection amount of unit head 2 detected at unit head bracing frame 3 when deflecting together with unit head 2 and polishing tool 10, and displacement deflection information is fed back to robot or gang tool, changes polishing track and feed velocity with this.As a kind of mode, displacement detection part 7 is displacement transducer.
Operation principle of the present utility model is following (as a example by this intelligence sanding apparatus is installed on robot the 6th axle): elastic support member withstands on the end face of bracing frame 3, and unit head 2 drives polishing tool 10 high speed rotating.This intelligence sanding apparatus of robot gribing, makes polishing tool 10 be pressed against on workpiece, polishes workpiece.When workpiece configurations size is higher than setting track, or unit head runs into that dead head is remaining or during bigger overlap, polishing tool 10 can be exceeded, by the counteracting force of workpiece effect, the thrust that flexible support part produces, and at this moment unit head 2 deflects together with unit head bracing frame 3 or axially displacement the pressure that substantially keeps polishing tool 10 to act on workpiece.Equally when workpiece configurations is less than the polishing track of former setting, by the deflection of default polishing unit head, we can ensure that polishing tool 10 contacts with the effective of workpiece.The quality of polishing can be substantially improved by the adaptive ability of this polishing tool 10, it is to avoid injure workpiece body, improve the life-span of polishing tool and reduce the mechanical shock that robot is produced.
Shock detection parts 6 collect the vibrations frequency spectrum of unit head 2, displacement detection part 7 detects the displacement deflection amount of unit head 2, polishing attitude detection parts 8 detect unit head 2 position relative with workpiece and change thereof, the information of all detection gained returns to information specialist's processing system (the most total control module) of polishing in bruting process in real time, and with reference to the historical data in this processing system data base, adjust robot or gang tool attitude, travel track and feed velocity and the flexible strength of flexible support part, thus oneself continue to optimize each polishing parameter, such as pressure of polishing, travel track, feed speed, cutter-orientation etc..This sanding apparatus is to provide adjustable flexible strength by flexible support part, the self adaptation deflection relying on grinding head keeps substantially invariable polishing pressure, and polishing speed and polishing strategy can be adjusted according to the information of the deflection angle of grinding head, obtain excellent polishing quality with this.For the foundry goods of the different materials that different shaping method produces, we preset corresponding characteristic curve can to intelligence grinding head.
Intelligence sanding apparatus of the present utility model, robot or gang tool use intelligence sanding apparatus to polish workpiece, can adapt to the uncertainty that workpiece actual size, burr or dead head are remaining, solve quality instability, disfiguring workpiece body during miscellaneous equipment polishing workpiece well, the problems such as cutter life is short, thus at a high speed, stable, the overlap of effective cleaning workpiece and burr.By increasing the grinding head vibrations collection of frequency spectrum and analysis, and follow the tracks of skew and the attitude of polishing tool in bruting process, can know, set up and the polishing track of specialist system every kind of workpiece of Automatic Optimal of the big data analysis of follow-up utilization and parameter.
Of the present utility model ultimate principle and principal character and of the present utility model advantage have more than been shown and described; it will be obvious to one with ordinary skill in the art that; this utility model is not restricted to the described embodiments; described in above-described embodiment and description, principle of the present utility model is simply described; on the premise of without departing from this utility model spirit and scope; this utility model also has various changes and modifications, in the range of these changes and improvements both fall within claimed this utility model.
Claims (10)
- null1. an intelligent sanding apparatus，It is characterized in that，Including supporting seat、Bracing frame and unit head，Support frame as described above fixed cover is loaded on the outside of described unit head，Described support seat has sidewall and roof，Described sidewall and roof surround zone line，The top of described unit head passes described zone line and described roof，The bottom of described unit head is fixed with polishing tool，Support frame as described above is between described roof and described bottom，Multiple flexible support part it is provided with between support frame as described above and described roof，Multiple described flexible support parts are distributed on the circumference centered by the axle of described unit head，One end that described support seat is relative with described roof is fixed with the baffle ring preventing support frame as described above from being deviate from by described support seat，It is formed between described baffle ring and support frame as described above and enables to the arc contact surface that support frame as described above deflects relative to described baffle ring，Described intelligence sanding apparatus also includes the polishing attitude detection parts for detecting described unit head and the relative position of workpiece，Described polishing attitude detection parts are arranged on described unit head.
- Intelligence sanding apparatus the most according to claim 1, it is characterised in that described flexible support part is cylinder, air bag or spring.
- Intelligence sanding apparatus the most according to claim 1, it is characterised in that described polishing attitude detection parts are gyroscope, and described polishing attitude detection parts are fixed on described unit head.
- Intelligence sanding apparatus the most according to claim 1, it is characterised in that support frame as described above has cyclic lug, and described baffle ring has endless groove, and described cyclic lug is embedded in described endless groove.
- Intelligence sanding apparatus the most according to claim 4, it is characterized in that, support frame as described above includes tubular main part and is positioned at the described main part collar flange near described roof one end, described cyclic lug is positioned at the bottom surface of described collar flange, and described endless groove is positioned at the end face of described baffle ring.
- Intelligence sanding apparatus the most according to claim 1, it is characterised in that described intelligence sanding apparatus also includes that shock detection parts, described shock detection parts are fixed on described unit head.
- Intelligence sanding apparatus the most according to claim 6, it is characterised in that be provided with on described support seat for measuring the described unit head displacement detection part relative to the displacement of described support seat.
- Intelligence sanding apparatus the most according to claim 7, it is characterised in that described displacement detection part is displacement transducer.
- Intelligence sanding apparatus the most according to claim 2, it is characterised in that described intelligence sanding apparatus also includes the air pressure for regulating described cylinder/air bag or regulates the control assembly of pretightning force of described spring.
- Intelligence sanding apparatus the most according to claim 8, it is characterized in that, described intelligence sanding apparatus also includes information specialist's processing system of polishing, described polishing information specialist's processing system collects described polishing attitude detection parts, described shock detection parts and the detection information of described displacement detection part, and regulates robot or gang tool attitude, travel track and feed velocity and the flexible strength of flexible support part with reference to historical data.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521057947.2U CN205734241U (en) | 2015-12-18 | 2015-12-18 | Intelligence sanding apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521057947.2U CN205734241U (en) | 2015-12-18 | 2015-12-18 | Intelligence sanding apparatus |
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| CN205734241U true CN205734241U (en) | 2016-11-30 |
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| CN201521057947.2U Active CN205734241U (en) | 2015-12-18 | 2015-12-18 | Intelligence sanding apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938423A (en) * | 2017-03-29 | 2017-07-11 | 苏州亚思科精密数控有限公司 | Blade surface polishing process |
| CN108161730A (en) * | 2018-01-16 | 2018-06-15 | 安徽工程大学 | A kind of force feedback flexibility floating polishing power head and its application method |
| CN108544374A (en) * | 2018-03-21 | 2018-09-18 | 安徽工程大学 | A kind of dynamic power head and its application method of polishing of multidimensional force feedback flexible floating |
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| CN110774134A (en) * | 2019-11-04 | 2020-02-11 | 桂林航天工业学院 | Lightweight car shell grinding device |
| CN111015437A (en) * | 2019-12-30 | 2020-04-17 | 长光卫星技术有限公司 | Numerical control polishing self-adaptive wheel type mechanism |
| CN112123130A (en) * | 2020-09-24 | 2020-12-25 | 含山县龙宇铸件厂 | Handheld polishing tool for removing burrs at inner cavities and joints of complex castings |
-
2015
- 2015-12-18 CN CN201521057947.2U patent/CN205734241U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938423A (en) * | 2017-03-29 | 2017-07-11 | 苏州亚思科精密数控有限公司 | Blade surface polishing process |
| CN108161730A (en) * | 2018-01-16 | 2018-06-15 | 安徽工程大学 | A kind of force feedback flexibility floating polishing power head and its application method |
| CN108544374A (en) * | 2018-03-21 | 2018-09-18 | 安徽工程大学 | A kind of dynamic power head and its application method of polishing of multidimensional force feedback flexible floating |
| CN108544374B (en) * | 2018-03-21 | 2023-06-20 | 安徽工程大学 | Multi-dimensional force feedback flexible floating polishing power head and application method thereof |
| CN109955122A (en) * | 2019-04-23 | 2019-07-02 | 四川工程职业技术学院 | Full-automatic sanding system and full-automatic sanding method based on machine vision |
| CN110774134A (en) * | 2019-11-04 | 2020-02-11 | 桂林航天工业学院 | Lightweight car shell grinding device |
| CN111015437A (en) * | 2019-12-30 | 2020-04-17 | 长光卫星技术有限公司 | Numerical control polishing self-adaptive wheel type mechanism |
| CN111015437B (en) * | 2019-12-30 | 2021-05-07 | 长光卫星技术有限公司 | Numerical control polishing self-adaptive wheel type mechanism |
| CN112123130A (en) * | 2020-09-24 | 2020-12-25 | 含山县龙宇铸件厂 | Handheld polishing tool for removing burrs at inner cavities and joints of complex castings |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190103 Address after: Room B2107, 2nd floor, 368 Liuhe Road, Binjiang District, Hangzhou City, Zhejiang 310000 Patentee after: Hangzhou Wanmengte Technology Co.,Ltd. Address before: 201600 No. 388 Minshen Road, East Songjiang Industrial Zone, Songjiang District, Shanghai Patentee before: WM TECHNOLOGIES (SHANGHAI) LTD. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231018 Address after: Block A, Building 3, No. 388 Minshen Road, Xinqiao Town, Songjiang District, Shanghai, 201600 Patentee after: WANMENGTE AUTOMATION (SHANGHAI) Co.,Ltd. Address before: Room B2107, 2nd floor, 368 Liuhe Road, Binjiang District, Hangzhou City, Zhejiang 310000 Patentee before: Hangzhou Wanmengte Technology Co.,Ltd. |